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Nuclear power plant decommissioning and remote robot system

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Nuclear power plant decommissioning and remote robot system

Telescopic Power Manipulator

A remote control device that can perform various tasks perfectly in radioactively contaminated areas that are inaccessible to human workers

Overview of nuclear power plant decommissioning and remote robot system

A system that can be operated remotely from a safe distance away due to radioactive contamination or chemicals

  • Used to handle research facilities, waste, etc. in hot cells
  • Used for nuclear power plant dismantling work

Victex remote servo manipulator (installed in the heavy ion accelerator facility)

Remote servo manipulator demonstration video

Victex remote telescopic servo manipulator

Telescopic Master-slave Manipulator A100

  • ·Mainly used to remotely control hot cell internal operations
  • ·Operation by the operator is accurately reproduced
  • ·Can be used by both left-handed and right-handed people
  • ·A variety of work is possible with a variety of tools
  • ·Ergonomic control panel
  • ·Light and easy to operate with smooth movement
  • ·The same force as that of a human hand is transferred to the Slave Arm, which can perform work in precision

Servo Manipulator A1000S

A1000S is a servo manipulator based on A1000 and has the advantages of A1000.
It has Cartesian control, and is specialized in handling heavy objects in hot cells, dismantling nuclear power plants, decommissioning, decontamination, and maintenance.
Precise and easy operation is possible through Go-To-mode and 3D simulation.
A pre-positioning system is installed, allowing flexible and wide range of work.

Main work
  • ·Handling of radioactive substances
  • ·Dismantling / Decommissioning
  • ·Decontamination
  • ·Maintenance
  • ·Heavy weight handling in hot cells
※The above data is an example of one configuration. With modular structure, pre-positioning systems, handling capacities and ranges can be customized according to customers.
Max. vertical range 7.1m
Max. horizontal range 4m
A 1000S arm length 2.5m
Max. load capacity 100kg
Motion axes type Articulated
A1000 arm axes 6 joint axes + tool axis
D.O.F(degrees of freedom) 6 D.O.F
Pre-positionining system 3 axes
Drive system DC & Servo Motors

A1000S is designed to operate in harsh environments. Constructed from high-quality materials that are radiation-resistant, acid- and corrosion-resistant, Arm has the following advantages:

  1. Precise movement and control
  2. No exposed wiring
  3. Almost maintenance-free
  4. Special coating to easily remove contaminants
  5. External mechanical emergency operation is possible for all joints
  6. Arm part can be remotely exchanged

Power manipulater A1000

  • ·Possible heavy-duty work that is difficult for humans to do
  • ·Available to work underwater
  • ·All movements use electricity
  • ·SPC control system (PC-based control is also possible)
  • ·The operation panel is designed to be intuitive in operation
  • ·Can be operated like a crane and can be used in combination with TELBOT
  • ·Easy maintenance
  • ·Radiation tolerance 1000000 Gy
Arm Capacity Weight 200~500 kg
Radiation-Resistant 1000000 Gy
Arm Length 1000 ~ 4000 mm
Telescope Length 1000 ~ 5000 mm

Utilization fields

  1. Radioactive waste disposal machine
  2. Heavy weight handling in hot cells
  3. Dismantling work
  4. Process support manipulators in hot cells
  5. Underwater work/span>

Robot system TELBOT

  • ·Optimal link length and joint combination tailored to the customer's application
  • ·Wide working range through infinite rotation
  • ·Excellent accessibility due to long and slim structure (possible to pass through narrow spaces)
  • ·Maintains high precision even during repetitive work as there is no backlash
  • ·High durability against harmful environments (radiation, heat, dust, explosive gas, etc.)
  • ·Easy maintenance and long life
Payload 10 – 1200 N
Torque 15 – 2500 Nm
Reach length 1 – 4 m
(or more, depending on the payload)
Number of motors Max. 8 motors
Radiation resistance 1 MGy
Gripper force 1200 ~4500N
Degree of freedom 6 D.O.F. / 7 D.O.F. + gripper axis
Joint angle range Multi-turn

Protection IP65 (underwater optional)
  • WAK
  • JNFL
  • KKW Greifswald

JOYARM II

Joyarm is an innovative control device applicable to all multi-axis robots.
Joyarm reduces stress and fatigue due to operation, and enables intuitive and precise control.
Joyarm can freely manipulate 6 axes and adjust force and torque in the Cartesian coordinate system.
It can be used with numerous applications and programs such as haptic devices.

Number of axes 6 axes ( X, Y, Z, θx, θy, θz ) + gripper
Signal output / input 6 encoders, 1 analogue,
7 switches / 4 lamps, 1 buzzer
Force feedback 6 axes ( Fx, Fy, Fz, Tx, Ty, Tz)
Maximum force Fxyz 20N, Txyz 150N cm
at center of wrist

Telbots can be operated with many different types of devices

  • ·Joystick mode: joint / robot / tool / user-defined coordinate control
  • ·Bi-directional master-slave control: position offset and adjustment, emphasis adjustment
  • ·GO-TO-MODE: Rapid learning and reproducibility with multiple user-defined modes
  • ·7-axis control: Elbow position control
  • ·Maximum force limit and intensity adjustment
  • ·3D robot simulation and collision avoidance
  • ·Network communication

Remote control equipment V1000

V1000 is a fully remote control machine, especially for many applications where human operation is not possible.
It can climb and descend stairs and hills, and can operate on virtually any terrain.
The built-in power supply allows remote control for about 3 hours, and the control and power supply can be quickly switched from a wireless system to a wired system.
It can be used in combination with a manipulator, enabling various tasks in harsh working environments.

Utilization fields

  1. Radioactive waste disposal machine
  2. Decontamination
  3. Maintenance
  4. Rescue
  5. Dismantling / Decommissioning
  6. Reconnaissance
  7. Surveillance
  8. Handling and disposal of explosives

Control Radio and cable control

Navigation via live camera image and optional GPS positioning
Handheld control with approx. 0.5kg

Vehicle

Length x width x height Approx.. 1250 x 750 x 400 (mm)
Max. speed Approx. 6 km./h
Payload Approx. 250 kg
Mobility Outdoor / indoor
(on road, off road, stairs,
doors, water fording…)
Weight Approx. 250 kg (without load and arm)
Loading area Approx. 850 mm x 350 mm
Protection dass IP65(IP67 optional)
Operation time nternal power-supply : approx. 3 hours
External power-supply :
unlimited

Manipulator

Type A1000(HWM standard quality and capabilities)
Payload 100 kg
Axes 7
Arm length 1670 mm
Tongs dosing force Approx. 2000 N
Protection dass IP65(IP67 optional

Nuclear power plant dismantling work using a manipulator

Since the high-level radioactive area is inaccessible to humans, a power manipulator is used to carry out the dismantling work.
The power manipulator is capable of precise work and can have various tools installed to flexibly cope with the work required in the dismantling process.

Nuclear power plant decommissioning

  • ·In 2017, as the lifespan of Gori 1 expired, dismantling work began.
  • ·A total of 12 nuclear power plants will expire by 2029, which is expected to increase demand for nuclear power plant decommissioning.

Status of nuclear power plants in Korea

■ 2 units under dismantling

■ 25 units in operation

■ 3 units under construction

Division Power plant name Operation permit date (initial critical date) Design life Design life expiry Design capacity (MW) Reactor type
1 Gori unit 1 ’72.05.31 (’77.06.19) 30 years 17.06.18 (continued for 10 years) 587 Light water reactor
2 Wolseong unit 2 ’78.02.15 (’82.11.21) 30 years 22.11.20 (continued for 10 years) 679 Light water reactor
3 Gori unit 2 ’83.08.10 40 years ’23.08.09 650 Light water reactor
4 Gori unit 3 ’84.09.29 40 years ’24.09.28 950 Light water reactor
26 Shin-Gori unit 4 ‘17.12.31 60 years ’77.12.31 1,455 Light water reactor
27 Shinhanul unit 1 18.12.31 60 years ’78.12.31 1,455 Light water reactor
28 Shin-Gori unit 4 19.12.31 60 years ’79.12.31 1,455 Light water reactor

Korea's nuclear decommissioning schedules

Number of units starting Decommissioning (incl. planned plants)

Year ~’20 ’20 ~ ‘30 ’20 ~ ‘30 ’30 ~ ‘40 ’40 ~ ‘50 ’50 ~ ‘60 ’60 ~ ‘70
No Extended Op. 2 10 4 4 4 8 7
10 yr Extended Op. 1 1 10 4 4 4 -

Korea's nuclear power plant decommissioning market size

  • ·The cost for dismantling one nuclear power plant is KRW 634.7 billion * Regulations on calculation standards for radiation waste management costs and spent fuel management fees (Notification of the Ministry of Trade, Industry and Energy, No. 2015-132)
  • ·Dismantling period is 15 years
  • ·Korea's nuclear power plant decommissioning market size is 191,311 billion won
  • ·Victex possesses technologies for dismantling, radioactive decontamination, and storage and transportation of spent nuclear fuel.
  • Licensing (5 years)
    Jun '17 to Jun '22

    Public hearing
    Approval of a decommissioning plan

  • Cooling and exporting spent nuclear materials (8.5 years)
    Jun '17 to Dec '25

    Safety management, regular inspection, etc. Construction of dry storage facilities

  • Full-scale dismantling (8.5 years)
    Jun '22 to Dec '30

    Cutting and decontamination of raw materials Demolition of buildings and facilities, etc.

  • Site restoration (2 years)
    Jan '31 to Dec '32

    Site restoration
    Report of completed dismantling

Creation of the world's 5th nuclear power plant decommissioning industry cluster

04.27.2020. Signed an agreement for investment and joint technology development in Ulsan with a company specializing in nuclear power plant dismantling

  • Victex CEO: Choi Jin-heung
  • Business registration number: 215-81-86837 63, Jeongseojin 8-ro, Seo-gu, Incheon (Oryu-dong)

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